Spacecraft pose integrated robust dynamics control method based on multi-mechanical-arm driving

Abstract

The invention discloses a spacecraft pose integrated robust control method based on space multi-mechanical-arm driving, and the method comprises the steps: firstly, calculating the system momentum at an initial moment and an expected joint motion sequence of a whole control process in sequence, and judging whether the motion of a mechanical arm will generate collision between connecting rods or not; whether the mechanical arm collides with arm rods or not and whether the mechanical arm collides with a spacecraft body or not during movement are judged, then a mechanical arm instruction joint angular acceleration vector at the current moment is obtained through calculation, finally, the mechanical arm joint torque at the current moment is calculated, and the mechanical arm is controlled according to the mechanical arm joint torque at the current moment. The design degree of freedom contained in the motion of multiple mechanical arms is fully utilized, the obstacle avoidance design of the motion of the mechanical arms is achieved in combination with the technologies such as line segment decomposition, surface segmentation and enveloping balls, a hyperbolic tangent function is introduced into the control design, interference suppression of system uncertainty is achieved, and the robust performance of a control loop is considered while spacecraft pose error convergence is ensured.

Description

technical field [0001] The invention relates to a robust and stable dynamics control method based on space multi-manipulator drive for spacecraft pose integration, which belongs to the technical field of aircraft dynamics and control. Background technique [0002] In the short-distance space operation missions represented by rendezvous and docking and formation flight, the 6-DOF attitude control of the spacecraft is often driven by actuators such as RCS nozzles or "RCS+reaction flywheel / control torque gyroscope". In contrast, the integrated control method of the spacecraft position and attitude based on the manipulator drive can make full use of the dynamic coupling between the manipulator and the spacecraft body, and realize the high precision of the position and attitude of the spacecraft by driving the joint motion of the manipulator. The adjustment effectively avoids the fuel consumption of the traditional RCS-based nozzle driving method, saves mission propellant and red...

AI Technical Summary

Problems solved by technology

[0003] However, in the existing research on the driving control method of the manipulator, the influence of external disturbance in space and system uncertainty on the control accuracy has not been considered. The interference suppression ability is weak, and there is a risk of collision during the movement of the manipulator. The control strategy needs to be considered Obstacle avoidance design for manipulator movement

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